Study On Structure And Trajectory Parameters Of Manipulator For Automatically Opening The Body Cavity Of Poultry

Technology for automatically opening the body cavity is the important department of the evisceration technology of slaughtered poultry, which is the key technology of evisceration processing. In China the development and application of automatic evisceration still at the initial stage, apparatus for opening the body cavity almost absolutely came from abroad. With the development of large scale farming in poultry and the increasing demand of poultry, the conditions of applying automatic technology for opening the body cavity have formed. With the demand for the technology growing up in China, it has been urgent and feasible to study automatic technology for opening the body cavity. By showing several foreign apparatus for opening the body cavity from famous poultry slaughtering equipment manufacturing enterprises and comparing their structural characteristics and relative merits, the main components and operating principle of those machines have been researched. Experiment prototype has been designed to simulate the action of opening cavity, which will provide many important essential parameters for exploiting the opening machine in future.Mechanism kinematic sketch of the opening manipulator and corresponding control curve have been designed, which based on artificial operation. Structural scheme of manipulator and relevant dimensions of experiment prototype were determined, which composed of manipulator, lift component, positioning device and transmission.3D model and kinematic analysis results have been built with Pro/E. Not only the feasibility of this machine has been verified, but also the structure and control scheme been affirmed.The motion parameters were designed to be adjustable, which used the stepping motor and ball screw to simulate the cam to driving the manipulator. The control system used PLC S7-200 to command the manipulator to finish the operation.The major factors, open speed and starting position, were analyzed, which affected the opening cavity results. Therefore, variance analysis test has been designed and done with comprehensive scoring standard and method to analysis scheme. The results showed that open speed and starting position changing in the definite scope have made less effect on the results of opening cavity.